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<div class="title">ground_based_people_detection_app.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2013-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * ground_based_people_detection_app.h</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Created on: Nov 30, 2012</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * Author: Matteo Munaro</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_plane.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/ransac.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/extract_clusters.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/people/person_cluster.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/people/head_based_subcluster.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/people/person_classifier.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">namespace </span>people</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">class </span>GroundBasedPeopleDetectionApp;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html">   72</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html">GroundBasedPeopleDetectionApp</a></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13fd5a5b9f2c03d75a303f2d1fffca79">GroundBasedPeopleDetectionApp</a> ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae2a57b74d01adf84f8371ffc5d8cb4cd">~GroundBasedPeopleDetectionApp</a> ();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4d891de9e757b98155a630ac7a7c9de7">setInputCloud</a> (PointCloudPtr&amp; cloud);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a6ad2ce897659e25fd5552be5cfcebd50">setGround</a> (Eigen::VectorXf&amp; ground_coeffs);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#abb1e96641bf0cd5d87ec9d32181a3efa">setTransformation</a> (<span class="keyword">const</span> Eigen::Matrix3f&amp; transformation);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a19a15f63fc6648a65d54e2d70e6dbd7e">setSamplingFactor</a> (<span class="keywordtype">int</span> sampling_factor);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5280579c14550268bd5b64a01f5716b5">setVoxelSize</a> (<span class="keywordtype">float</span> voxel_size);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a915f68c8aa39a15fc5a129a6d87b00a5">setIntrinsics</a> (Eigen::Matrix3f intrinsics_matrix);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31940f8ad83752c91fed13ef030bf714">setClassifier</a> (<a class="code" href="classpcl_1_1people_1_1_person_classifier.html">pcl::people::PersonClassifier&lt;pcl::RGB&gt;</a> person_classifier);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa863e592db0f6d0e943f11a1ee93b564">setFOV</a> (<span class="keywordtype">float</span> min, <span class="keywordtype">float</span> max);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af5662950e81c30873915ed91dcc0d0d2">setSensorPortraitOrientation</a> (<span class="keywordtype">bool</span> vertical);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31b917712ffe4f66d8ecf85ee9e71749">setHeadCentroid</a> (<span class="keywordtype">bool</span> head_centroid);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab089c9fe913edf8b5aff9d9e64f6914a">setPersonClusterLimits</a> (<span class="keywordtype">float</span> min_height, <span class="keywordtype">float</span> max_height, <span class="keywordtype">float</span> min_width, <span class="keywordtype">float</span> max_width);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2c906736068e8325c05243de6460dba4">setMinimumDistanceBetweenHeads</a> (<span class="keywordtype">float</span> heads_minimum_distance);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a96dd362f2971dab29b62c02ebf0a4ad2">getPersonClusterLimits</a> (<span class="keywordtype">float</span>&amp; min_height, <span class="keywordtype">float</span>&amp; max_height, <span class="keywordtype">float</span>&amp; min_width, <span class="keywordtype">float</span>&amp; max_width);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a00e3e22879cc58458e8bc1d57f1f0b4c">getDimensionLimits</a> (<span class="keywordtype">int</span>&amp; min_points, <span class="keywordtype">int</span>&amp; max_points);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aca14cbeff3ce425e9a8fe3170236da77">getMinimumDistanceBetweenHeads</a> ();</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      Eigen::VectorXf</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa5e5282899e9ef0bd92f37d87cf9cb33">getGround</a> ();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      PointCloudPtr</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4e007039016b8be76f00495a6d114095">getFilteredCloud</a> ();</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      PointCloudPtr</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0136956b003c924a34bbbe02a032a4d4">getNoGroundCloud</a> ();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1d2f9ad79adf98c4bfc5c156d97b12b8">extractRGBFromPointCloud</a> (PointCloudPtr input_cloud, pcl::PointCloud&lt;pcl::RGB&gt;::Ptr&amp; output_cloud);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a60516702b769124ed3da3fd318258ba0">swapDimensions</a> (pcl::PointCloud&lt;pcl::RGB&gt;::Ptr&amp; cloud);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a74d6d3cb5fd914ed35b0d23702719912">updateMinMaxPoints</a> ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a8aee7a6add005a4c42ade573585acfff">applyTransformationPointCloud</a> ();</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad88876b8e9f69b703ffc26d1d5c92760">applyTransformationGround</a> ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0dc924992669bcd76b7dad68cfd5c5f6">applyTransformationIntrinsics</a> ();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a06ab91072245185aefb01e9f7c5f53bf">filter</a> ();</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aef52be2a667ceb8c1c58b93c06125fa0">compute</a> (std::vector&lt;<a class="code" href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster&lt;PointT&gt;</a> &gt;&amp; clusters);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#afbf9a72fb4d539a13c14e49459a8a921">  288</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#afbf9a72fb4d539a13c14e49459a8a921">sampling_factor_</a>; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      </div>
<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a9dfb9076a6111ff4588a554d83ef9971">  291</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a9dfb9076a6111ff4588a554d83ef9971">voxel_size_</a>;                  </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      </div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa72a39059ffc190840f21eff697fb40f">  294</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa72a39059ffc190840f21eff697fb40f">ground_coeffs_</a>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af2cab2d3c83b79a7004eec888fe37e57">  297</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af2cab2d3c83b79a7004eec888fe37e57">ground_coeffs_set_</a>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa6fce363d05279c79d9f441f731babd2">  300</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa6fce363d05279c79d9f441f731babd2">ground_coeffs_transformed_</a>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a995fba929fa9febd580581fe143a3521">  303</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a995fba929fa9febd580581fe143a3521">sqrt_ground_coeffs_</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad38c3910bab88bbc45151ae6ec34fa9e">  306</a></span>&#160;      Eigen::Matrix3f <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad38c3910bab88bbc45151ae6ec34fa9e">transformation_</a>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a3755cf5e032e685eab28df94aa14113c">  309</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a3755cf5e032e685eab28df94aa14113c">transformation_set_</a>;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a48d13a412a7e372b5a913bc861bd30ca">  312</a></span>&#160;      PointCloudPtr <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a48d13a412a7e372b5a913bc861bd30ca">cloud_</a>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13d6dc63906ae29328565f5f42cf2a0d">  315</a></span>&#160;      PointCloudPtr <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13d6dc63906ae29328565f5f42cf2a0d">cloud_filtered_</a>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5cb6e71a2e30861f0a23804f432fed9a">  318</a></span>&#160;      PointCloudPtr <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5cb6e71a2e30861f0a23804f432fed9a">no_ground_cloud_</a>;              </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af07013f8363c2b3d192f43e11ae7d4e6">  321</a></span>&#160;      pcl::PointCloud&lt;pcl::RGB&gt;::Ptr <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af07013f8363c2b3d192f43e11ae7d4e6">rgb_image_</a>;      </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      </div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af2574d41d6960ac7f44b7b988d2b1c21">  324</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af2574d41d6960ac7f44b7b988d2b1c21">max_height_</a>;                  </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      </div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ace264d669fdebef2ca84cf73c588ab50">  327</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ace264d669fdebef2ca84cf73c588ab50">min_height_</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5db06c5ec4b26cdf2f7658fb347082f9">  330</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5db06c5ec4b26cdf2f7658fb347082f9">max_width_</a>;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a07e0d9ca813b18b185606309ee11a7f9">  333</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a07e0d9ca813b18b185606309ee11a7f9">min_width_</a>;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2f9749e800d83673bcc5f5d7f2643626">  336</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2f9749e800d83673bcc5f5d7f2643626">min_fov_</a>;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a50fe9985ffec0898fcdf2863eb620f29">  339</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a50fe9985ffec0898fcdf2863eb620f29">max_fov_</a>;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#afce08127bf56571649bc02755ec2b1b4">  342</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#afce08127bf56571649bc02755ec2b1b4">vertical_</a>;                    </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      </div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af72e2f00dace33c58439512a731749f6">  346</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af72e2f00dace33c58439512a731749f6">head_centroid_</a>;    <span class="comment">// if true, the person centroid is computed as the centroid of the cluster points belonging to the head (default = true)</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;                              <span class="comment">// if false, the person centroid is computed as the centroid of the whole cluster points </span></div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aadfa9db61f00e6284608639649808cee">  349</a></span>&#160;<span class="comment"></span>      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aadfa9db61f00e6284608639649808cee">max_points_</a>;                  </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      </div>
<div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af98b404cae60bdcf0833ebaf35aae42c">  352</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af98b404cae60bdcf0833ebaf35aae42c">min_points_</a>;                  </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      </div>
<div class="line"><a name="l00355"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae32f64895a5c1e5b03c33726ee4a4cad">  355</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae32f64895a5c1e5b03c33726ee4a4cad">heads_minimum_distance_</a>;            </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      </div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab784a9b530d0bc7b7903f2dbe050289a">  358</a></span>&#160;      Eigen::Matrix3f <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab784a9b530d0bc7b7903f2dbe050289a">intrinsics_matrix_</a>;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a49b28f258172678eb551be15c90ab67c">  361</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a49b28f258172678eb551be15c90ab67c">intrinsics_matrix_set_</a>;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab6a84ba87311742d10689f1c7497a1af">  364</a></span>&#160;      Eigen::Matrix3f <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab6a84ba87311742d10689f1c7497a1af">intrinsics_matrix_transformed_</a>;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1ecc9b5ce1a8116ffd77b256f1a7f272">  367</a></span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_classifier.html">pcl::people::PersonClassifier&lt;pcl::RGB&gt;</a> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1ecc9b5ce1a8116ffd77b256f1a7f272">person_classifier_</a>;  </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      </div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ac07fc1c8f970976e982d264de4e01854">  370</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ac07fc1c8f970976e982d264de4e01854">person_classifier_set_flag_</a>;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    };</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  } <span class="comment">/* namespace people */</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;} <span class="comment">/* namespace pcl */</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="preprocessor">#include &lt;pcl/people/impl/ground_based_people_detection_app.hpp&gt;</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html">pcl::people::GroundBasedPeopleDetectionApp</a></div><div class="ttdoc">GroundBasedPeopleDetectionApp performs people detection on RGB-D data having as input the ground plan...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a00e3e22879cc58458e8bc1d57f1f0b4c"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a00e3e22879cc58458e8bc1d57f1f0b4c">pcl::people::GroundBasedPeopleDetectionApp::getDimensionLimits</a></div><div class="ttdeci">void getDimensionLimits(int &amp;min_points, int &amp;max_points)</div><div class="ttdoc">Get minimum and maximum allowed number of points for a person cluster.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:184</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a0136956b003c924a34bbbe02a032a4d4"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0136956b003c924a34bbbe02a032a4d4">pcl::people::GroundBasedPeopleDetectionApp::getNoGroundCloud</a></div><div class="ttdeci">PointCloudPtr getNoGroundCloud()</div><div class="ttdoc">Get pointcloud after voxel grid filtering and ground removal.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:213</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a06ab91072245185aefb01e9f7c5f53bf"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a06ab91072245185aefb01e9f7c5f53bf">pcl::people::GroundBasedPeopleDetectionApp::filter</a></div><div class="ttdeci">void filter()</div><div class="ttdoc">Reduces the input cloud to one point per voxel and limits the field of view.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:296</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a07e0d9ca813b18b185606309ee11a7f9"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a07e0d9ca813b18b185606309ee11a7f9">pcl::people::GroundBasedPeopleDetectionApp::min_width_</a></div><div class="ttdeci">float min_width_</div><div class="ttdoc">person clusters minimum width, used to estimate how many points minimally represent a person cluster</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a0dc924992669bcd76b7dad68cfd5c5f6"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0dc924992669bcd76b7dad68cfd5c5f6">pcl::people::GroundBasedPeopleDetectionApp::applyTransformationIntrinsics</a></div><div class="ttdeci">void applyTransformationIntrinsics()</div><div class="ttdoc">Applies the transformation to the intrinsics matrix.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:283</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a13d6dc63906ae29328565f5f42cf2a0d"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13d6dc63906ae29328565f5f42cf2a0d">pcl::people::GroundBasedPeopleDetectionApp::cloud_filtered_</a></div><div class="ttdeci">PointCloudPtr cloud_filtered_</div><div class="ttdoc">pointer to the filtered cloud</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:315</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a13fd5a5b9f2c03d75a303f2d1fffca79"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13fd5a5b9f2c03d75a303f2d1fffca79">pcl::people::GroundBasedPeopleDetectionApp::GroundBasedPeopleDetectionApp</a></div><div class="ttdeci">GroundBasedPeopleDetectionApp()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a19a15f63fc6648a65d54e2d70e6dbd7e"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a19a15f63fc6648a65d54e2d70e6dbd7e">pcl::people::GroundBasedPeopleDetectionApp::setSamplingFactor</a></div><div class="ttdeci">void setSamplingFactor(int sampling_factor)</div><div class="ttdoc">Set sampling factor.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a1d2f9ad79adf98c4bfc5c156d97b12b8"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1d2f9ad79adf98c4bfc5c156d97b12b8">pcl::people::GroundBasedPeopleDetectionApp::extractRGBFromPointCloud</a></div><div class="ttdeci">void extractRGBFromPointCloud(PointCloudPtr input_cloud, pcl::PointCloud&lt; pcl::RGB &gt;::Ptr &amp;output_cloud)</div><div class="ttdoc">Extract RGB information from a point cloud and output the corresponding RGB point cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:219</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a1ecc9b5ce1a8116ffd77b256f1a7f272"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1ecc9b5ce1a8116ffd77b256f1a7f272">pcl::people::GroundBasedPeopleDetectionApp::person_classifier_</a></div><div class="ttdeci">pcl::people::PersonClassifier&lt; pcl::RGB &gt; person_classifier_</div><div class="ttdoc">SVM-based person classifier</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:367</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a2c906736068e8325c05243de6460dba4"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2c906736068e8325c05243de6460dba4">pcl::people::GroundBasedPeopleDetectionApp::setMinimumDistanceBetweenHeads</a></div><div class="ttdeci">void setMinimumDistanceBetweenHeads(float heads_minimum_distance)</div><div class="ttdoc">Set minimum distance between persons' heads.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:163</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a2f9749e800d83673bcc5f5d7f2643626"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2f9749e800d83673bcc5f5d7f2643626">pcl::people::GroundBasedPeopleDetectionApp::min_fov_</a></div><div class="ttdeci">float min_fov_</div><div class="ttdoc">the beginning of the field of view in z-direction, should be usually set to zero</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a31940f8ad83752c91fed13ef030bf714"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31940f8ad83752c91fed13ef030bf714">pcl::people::GroundBasedPeopleDetectionApp::setClassifier</a></div><div class="ttdeci">void setClassifier(pcl::people::PersonClassifier&lt; pcl::RGB &gt; person_classifier)</div><div class="ttdoc">Set SVM-based person classifier.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:126</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a31b917712ffe4f66d8ecf85ee9e71749"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31b917712ffe4f66d8ecf85ee9e71749">pcl::people::GroundBasedPeopleDetectionApp::setHeadCentroid</a></div><div class="ttdeci">void setHeadCentroid(bool head_centroid)</div><div class="ttdoc">Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole bo...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a3755cf5e032e685eab28df94aa14113c"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a3755cf5e032e685eab28df94aa14113c">pcl::people::GroundBasedPeopleDetectionApp::transformation_set_</a></div><div class="ttdeci">bool transformation_set_</div><div class="ttdoc">flag stating whether the transformation matrix has been set or not</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:309</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a48d13a412a7e372b5a913bc861bd30ca"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a48d13a412a7e372b5a913bc861bd30ca">pcl::people::GroundBasedPeopleDetectionApp::cloud_</a></div><div class="ttdeci">PointCloudPtr cloud_</div><div class="ttdoc">pointer to the input cloud</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:312</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a49b28f258172678eb551be15c90ab67c"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a49b28f258172678eb551be15c90ab67c">pcl::people::GroundBasedPeopleDetectionApp::intrinsics_matrix_set_</a></div><div class="ttdeci">bool intrinsics_matrix_set_</div><div class="ttdoc">flag stating whether the intrinsics matrix has been set or not</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:361</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a4d891de9e757b98155a630ac7a7c9de7"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4d891de9e757b98155a630ac7a7c9de7">pcl::people::GroundBasedPeopleDetectionApp::setInputCloud</a></div><div class="ttdeci">void setInputCloud(PointCloudPtr &amp;cloud)</div><div class="ttdoc">Set the pointer to the input cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a4e007039016b8be76f00495a6d114095"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4e007039016b8be76f00495a6d114095">pcl::people::GroundBasedPeopleDetectionApp::getFilteredCloud</a></div><div class="ttdeci">PointCloudPtr getFilteredCloud()</div><div class="ttdoc">Get the filtered point cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:207</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a50fe9985ffec0898fcdf2863eb620f29"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a50fe9985ffec0898fcdf2863eb620f29">pcl::people::GroundBasedPeopleDetectionApp::max_fov_</a></div><div class="ttdeci">float max_fov_</div><div class="ttdoc">the end of the field of view in z-direction</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:339</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a5280579c14550268bd5b64a01f5716b5"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5280579c14550268bd5b64a01f5716b5">pcl::people::GroundBasedPeopleDetectionApp::setVoxelSize</a></div><div class="ttdeci">void setVoxelSize(float voxel_size)</div><div class="ttdoc">Set voxel size.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:111</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a5cb6e71a2e30861f0a23804f432fed9a"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5cb6e71a2e30861f0a23804f432fed9a">pcl::people::GroundBasedPeopleDetectionApp::no_ground_cloud_</a></div><div class="ttdeci">PointCloudPtr no_ground_cloud_</div><div class="ttdoc">pointer to the cloud after voxel grid filtering and ground removal</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a5db06c5ec4b26cdf2f7658fb347082f9"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5db06c5ec4b26cdf2f7658fb347082f9">pcl::people::GroundBasedPeopleDetectionApp::max_width_</a></div><div class="ttdeci">float max_width_</div><div class="ttdoc">person clusters maximum width, used to estimate how many points maximally represent a person cluster</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:330</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a60516702b769124ed3da3fd318258ba0"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a60516702b769124ed3da3fd318258ba0">pcl::people::GroundBasedPeopleDetectionApp::swapDimensions</a></div><div class="ttdeci">void swapDimensions(pcl::PointCloud&lt; pcl::RGB &gt;::Ptr &amp;cloud)</div><div class="ttdoc">Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:240</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a6ad2ce897659e25fd5552be5cfcebd50"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a6ad2ce897659e25fd5552be5cfcebd50">pcl::people::GroundBasedPeopleDetectionApp::setGround</a></div><div class="ttdeci">void setGround(Eigen::VectorXf &amp;ground_coeffs)</div><div class="ttdoc">Set the ground coefficients.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:96</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a74d6d3cb5fd914ed35b0d23702719912"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a74d6d3cb5fd914ed35b0d23702719912">pcl::people::GroundBasedPeopleDetectionApp::updateMinMaxPoints</a></div><div class="ttdeci">void updateMinMaxPoints()</div><div class="ttdoc">Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel siz...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:146</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a8aee7a6add005a4c42ade573585acfff"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a8aee7a6add005a4c42ade573585acfff">pcl::people::GroundBasedPeopleDetectionApp::applyTransformationPointCloud</a></div><div class="ttdeci">void applyTransformationPointCloud()</div><div class="ttdoc">Applies the transformation to the input point cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:257</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a915f68c8aa39a15fc5a129a6d87b00a5"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a915f68c8aa39a15fc5a129a6d87b00a5">pcl::people::GroundBasedPeopleDetectionApp::setIntrinsics</a></div><div class="ttdeci">void setIntrinsics(Eigen::Matrix3f intrinsics_matrix)</div><div class="ttdoc">Set intrinsic parameters of the RGB camera.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:118</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a96dd362f2971dab29b62c02ebf0a4ad2"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a96dd362f2971dab29b62c02ebf0a4ad2">pcl::people::GroundBasedPeopleDetectionApp::getPersonClusterLimits</a></div><div class="ttdeci">void getPersonClusterLimits(float &amp;min_height, float &amp;max_height, float &amp;min_width, float &amp;max_width)</div><div class="ttdoc">Get the minimum and maximum allowed height and width for a person cluster.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:175</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a995fba929fa9febd580581fe143a3521"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a995fba929fa9febd580581fe143a3521">pcl::people::GroundBasedPeopleDetectionApp::sqrt_ground_coeffs_</a></div><div class="ttdeci">float sqrt_ground_coeffs_</div><div class="ttdoc">ground plane normalization factor</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:303</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a9dfb9076a6111ff4588a554d83ef9971"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a9dfb9076a6111ff4588a554d83ef9971">pcl::people::GroundBasedPeopleDetectionApp::voxel_size_</a></div><div class="ttdeci">float voxel_size_</div><div class="ttdoc">voxel size</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:291</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aa5e5282899e9ef0bd92f37d87cf9cb33"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa5e5282899e9ef0bd92f37d87cf9cb33">pcl::people::GroundBasedPeopleDetectionApp::getGround</a></div><div class="ttdeci">Eigen::VectorXf getGround()</div><div class="ttdoc">Get floor coefficients.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:197</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aa6fce363d05279c79d9f441f731babd2"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa6fce363d05279c79d9f441f731babd2">pcl::people::GroundBasedPeopleDetectionApp::ground_coeffs_transformed_</a></div><div class="ttdeci">Eigen::VectorXf ground_coeffs_transformed_</div><div class="ttdoc">the transformed ground coefficients</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:300</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aa72a39059ffc190840f21eff697fb40f"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa72a39059ffc190840f21eff697fb40f">pcl::people::GroundBasedPeopleDetectionApp::ground_coeffs_</a></div><div class="ttdeci">Eigen::VectorXf ground_coeffs_</div><div class="ttdoc">ground plane coefficients</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:294</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aa863e592db0f6d0e943f11a1ee93b564"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa863e592db0f6d0e943f11a1ee93b564">pcl::people::GroundBasedPeopleDetectionApp::setFOV</a></div><div class="ttdeci">void setFOV(float min, float max)</div><div class="ttdoc">Set the field of view of the point cloud in z direction.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aadfa9db61f00e6284608639649808cee"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aadfa9db61f00e6284608639649808cee">pcl::people::GroundBasedPeopleDetectionApp::max_points_</a></div><div class="ttdeci">int max_points_</div><div class="ttdoc">maximum number of points for a person cluster</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ab089c9fe913edf8b5aff9d9e64f6914a"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab089c9fe913edf8b5aff9d9e64f6914a">pcl::people::GroundBasedPeopleDetectionApp::setPersonClusterLimits</a></div><div class="ttdeci">void setPersonClusterLimits(float min_height, float max_height, float min_width, float max_width)</div><div class="ttdoc">Set minimum and maximum allowed height and width for a person cluster.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ab6a84ba87311742d10689f1c7497a1af"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab6a84ba87311742d10689f1c7497a1af">pcl::people::GroundBasedPeopleDetectionApp::intrinsics_matrix_transformed_</a></div><div class="ttdeci">Eigen::Matrix3f intrinsics_matrix_transformed_</div><div class="ttdoc">the transformed intrinsics matrix</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:364</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ab784a9b530d0bc7b7903f2dbe050289a"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab784a9b530d0bc7b7903f2dbe050289a">pcl::people::GroundBasedPeopleDetectionApp::intrinsics_matrix_</a></div><div class="ttdeci">Eigen::Matrix3f intrinsics_matrix_</div><div class="ttdoc">intrinsic parameters matrix of the RGB camera</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:358</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_abb1e96641bf0cd5d87ec9d32181a3efa"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#abb1e96641bf0cd5d87ec9d32181a3efa">pcl::people::GroundBasedPeopleDetectionApp::setTransformation</a></div><div class="ttdeci">void setTransformation(const Eigen::Matrix3f &amp;transformation)</div><div class="ttdoc">Set the transformation matrix, which is used in order to transform the given point cloud,...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:82</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ac07fc1c8f970976e982d264de4e01854"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ac07fc1c8f970976e982d264de4e01854">pcl::people::GroundBasedPeopleDetectionApp::person_classifier_set_flag_</a></div><div class="ttdeci">bool person_classifier_set_flag_</div><div class="ttdoc">flag stating if the classifier has been set or not</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:370</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aca14cbeff3ce425e9a8fe3170236da77"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aca14cbeff3ce425e9a8fe3170236da77">pcl::people::GroundBasedPeopleDetectionApp::getMinimumDistanceBetweenHeads</a></div><div class="ttdeci">float getMinimumDistanceBetweenHeads()</div><div class="ttdoc">Get minimum distance between persons' heads.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:191</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ace264d669fdebef2ca84cf73c588ab50"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ace264d669fdebef2ca84cf73c588ab50">pcl::people::GroundBasedPeopleDetectionApp::min_height_</a></div><div class="ttdeci">float min_height_</div><div class="ttdoc">person clusters minimum height from the ground plane</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:327</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ad38c3910bab88bbc45151ae6ec34fa9e"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad38c3910bab88bbc45151ae6ec34fa9e">pcl::people::GroundBasedPeopleDetectionApp::transformation_</a></div><div class="ttdeci">Eigen::Matrix3f transformation_</div><div class="ttdoc">rotation matrix which transforms input point cloud to internal people tracker coordinate frame</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:306</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ad88876b8e9f69b703ffc26d1d5c92760"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad88876b8e9f69b703ffc26d1d5c92760">pcl::people::GroundBasedPeopleDetectionApp::applyTransformationGround</a></div><div class="ttdeci">void applyTransformationGround()</div><div class="ttdoc">Applies the transformation to the ground plane.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:268</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ae2a57b74d01adf84f8371ffc5d8cb4cd"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae2a57b74d01adf84f8371ffc5d8cb4cd">pcl::people::GroundBasedPeopleDetectionApp::~GroundBasedPeopleDetectionApp</a></div><div class="ttdeci">virtual ~GroundBasedPeopleDetectionApp()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:416</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ae32f64895a5c1e5b03c33726ee4a4cad"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae32f64895a5c1e5b03c33726ee4a4cad">pcl::people::GroundBasedPeopleDetectionApp::heads_minimum_distance_</a></div><div class="ttdeci">float heads_minimum_distance_</div><div class="ttdoc">minimum distance between persons' heads</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:355</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aef52be2a667ceb8c1c58b93c06125fa0"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aef52be2a667ceb8c1c58b93c06125fa0">pcl::people::GroundBasedPeopleDetectionApp::compute</a></div><div class="ttdeci">bool compute(std::vector&lt; pcl::people::PersonCluster&lt; PointT &gt; &gt; &amp;clusters)</div><div class="ttdoc">Perform people detection on the input data and return people clusters information.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:308</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_af07013f8363c2b3d192f43e11ae7d4e6"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af07013f8363c2b3d192f43e11ae7d4e6">pcl::people::GroundBasedPeopleDetectionApp::rgb_image_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::RGB &gt;::Ptr rgb_image_</div><div class="ttdoc">pointer to a RGB cloud corresponding to cloud_</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:321</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_af2574d41d6960ac7f44b7b988d2b1c21"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af2574d41d6960ac7f44b7b988d2b1c21">pcl::people::GroundBasedPeopleDetectionApp::max_height_</a></div><div class="ttdeci">float max_height_</div><div class="ttdoc">person clusters maximum height from the ground plane</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_af2cab2d3c83b79a7004eec888fe37e57"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af2cab2d3c83b79a7004eec888fe37e57">pcl::people::GroundBasedPeopleDetectionApp::ground_coeffs_set_</a></div><div class="ttdeci">bool ground_coeffs_set_</div><div class="ttdoc">flag stating whether the ground coefficients have been set or not</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:297</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_af5662950e81c30873915ed91dcc0d0d2"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af5662950e81c30873915ed91dcc0d0d2">pcl::people::GroundBasedPeopleDetectionApp::setSensorPortraitOrientation</a></div><div class="ttdeci">void setSensorPortraitOrientation(bool vertical)</div><div class="ttdoc">Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:140</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_af72e2f00dace33c58439512a731749f6"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af72e2f00dace33c58439512a731749f6">pcl::people::GroundBasedPeopleDetectionApp::head_centroid_</a></div><div class="ttdeci">bool head_centroid_</div><div class="ttdoc">if true, the person centroid is computed as the centroid of the cluster points belonging to the head;...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:346</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_af98b404cae60bdcf0833ebaf35aae42c"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af98b404cae60bdcf0833ebaf35aae42c">pcl::people::GroundBasedPeopleDetectionApp::min_points_</a></div><div class="ttdeci">int min_points_</div><div class="ttdoc">minimum number of points for a person cluster</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:352</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_afbf9a72fb4d539a13c14e49459a8a921"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#afbf9a72fb4d539a13c14e49459a8a921">pcl::people::GroundBasedPeopleDetectionApp::sampling_factor_</a></div><div class="ttdeci">int sampling_factor_</div><div class="ttdoc">sampling factor used to downsample the point cloud</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:288</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_afce08127bf56571649bc02755ec2b1b4"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#afce08127bf56571649bc02755ec2b1b4">pcl::people::GroundBasedPeopleDetectionApp::vertical_</a></div><div class="ttdeci">bool vertical_</div><div class="ttdoc">if true, the sensor is considered to be vertically placed (portrait mode)</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html">pcl::people::PersonClassifier&lt; pcl::RGB &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster</a></div><div class="ttdoc">PersonCluster represents a class for representing information about a cluster containing a person.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:60</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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